@conference {Roberts12spie,
	title = {Saliency Detection and Model-based Tracking: a Two Part Vision System for Small Robot Navigation in Forested Environment},
	booktitle = {Unmanned Systems Technology XIV - SPIE Defense, Security and Sensing},
	year = {2012},
	url = {http://frank.dellaert.com/pubs/Roberts12spie.pdf},
	author = {Richard Roberts and Duy-Nguyen Ta and Julian Straub and Frank Dellaert}
}